相关论文: Multimodal Interaction with Multiple Co-located Dr…
Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…
Increasingly complex and autonomous robots are being deployed in real-world environments with far-reaching consequences. High-stakes scenarios, such as emergency response or offshore energy platform and nuclear inspections, require robot…
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…
Swarm systems consist of large numbers of robots that collaborate autonomously. With an appropriate level of human control, swarm systems could be applied in a variety of contexts ranging from search-and-rescue situations to Cyber defence.…
Artificial intelligence has undergone immense growth and maturation in recent years, though autonomous systems have traditionally struggled when fielded in diverse and previously unknown environments. DARPA is seeking to change that with…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
Collaboration is a central theme in multi-robot systems as tasks and demands increasingly require capabilities that go beyond what any one individual robot possesses. Yet, despite extensive work on cooperative control and coordinated…
Effective robotic systems for long-horizon human-robot collaboration must adapt to a wide range of human partners, whose physical behavior, willingness to assist, and understanding of the robot's capabilities may change over time. This…
We outline our work on evaluating robots that assist older adults by engaging with them through multiple modalities that include physical interaction. Our thesis is that to increase the effectiveness of assistive robots: 1) robots need to…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…
Proactively perceiving others' intentions is a crucial skill to effectively interact in unstructured, dynamic and novel environments. This work proposes a first step towards embedding this skill in support robots for search and rescue…
This paper describes RHP Friends, a social humanoid robot developed to enable assistive robotic deployments in human-coexisting environments. As a use-case application, we present its potential use in nursing by extending its capabilities…
One way to allow elderly people to stay longer in their homes is to use of service robots to support them with everyday tasks. With this goal, we design, develop and evaluate a low-cost mobile robot to communicate with elderly people. The…
We introduce CARMA, a system for situational grounding in human-robot group interactions. Effective collaboration in such group settings requires situational awareness based on a consistent representation of present persons and objects…
In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and household environments, pure collision avoidance is…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…